On Sat 10 February 2007 10:53, Roy Vegard Ovesen wrote:
> On Saturday 10 February 2007 01:08, gh.robin wrote:
> > Hello Roy,
> > I do not notice any differences regarding /autopilot/new-config dir
> > between first load values (after FG loaded) and after reload autopilot.
> >
> > i get two pi-simple-controllers and sixteen pid-controllers.
>
> OK, you said that the heading hold in the dc3 was "crazy". The dc3 uses the
> generic autopilot, then all aircraft using the generic autopilot should
> experience the same crazieness in heading hold mode.
>
> Could you try activating the debug option of the two pid-controllers that
> are used in heading hold mode? Open
> data/Aircraft/Generic/generic-autopilot.xml and set the debug flag to true
> for the controllers named "Heading Bug Hold (DG based) Stage 1", and
> "Heading Bug Hold (DG based) Stage 2".
>
> When you activate the heading hold mode you should get debug messages from
> those two controllers on the console. This is what I get when I'm in a left
> turn chasing the heading bug in the dc3 (# My comments):
>
>
> Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0416667
> input = -50.076 ref = 0 # We are -50.076 degrees from our desired
> heading. ep_n = 50.076 ep_n_1 = 50.1743 e_n = 50.076 ed_n = 50.076 Tf =
> 1e-06 edf_n = 50.076 delta_u_n = -0.110384
> P:0.0982607 I:-0.20865 D:5.29441e-06
> min saturation
> output = -20 # The controller has commanded a 20 degree left bank.
>
> Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0416667
> input = -16.6732 ref = -20 # We are currently at 16.6732 degrees left
> bank. ep_n = -3.32684 ep_n_1 = -3.34097 e_n = -3.32684 ed_n = 16.6732 Tf =
> 1e-06 edf_n = 16.6732 delta_u_n = 2.75638e-05
> P:0.00141368 I:-0.00138618 D:6.68812e-08
> output = -0.00296141 # This is the commanded aileron, a tiny bit of left
> aileron makes sense.
I have settled Heading Bug =180
autopilot does not work (crazy)
I get messages
here an extract
..................................
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.025
input = -0.129679 ref = 0
ep_n = 0.129679 ep_n_1 = 0.130254 e_n = 0.129679 ed_n = 0.129679 Tf = 1e-06
edf_n = 0.129679 delta_u_n = -2.51044e-05
P:-5.75163e-05 I:3.24197e-05 D:-7.7432e-09
output = 0.000684861
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -0.129309 ref = 0
ep_n = 0.129309 ep_n_1 = 0.129679 e_n = 0.129309 ed_n = 0.129309 Tf = 1e-06
edf_n = 0.129309 delta_u_n = -1.53979e-05
P:-3.69617e-05 I:2.15515e-05 D:1.23327e-08
output = 0.000669463
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -0.128936 ref = 0
ep_n = 0.128936 ep_n_1 = 0.129309 e_n = 0.128936 ed_n = 0.128936 Tf = 1e-06
edf_n = 0.128936 delta_u_n = -1.58609e-05
P:-3.73499e-05 I:2.14893e-05 D:-2.32856e-10
output = 0.000653603
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -0.12854 ref = 0
ep_n = 0.12854 ep_n_1 = 0.128936 e_n = 0.12854 ed_n = 0.12854 Tf = 1e-06
edf_n = 0.12854 delta_u_n = -1.81036e-05
P:-3.95257e-05 I:2.14234e-05 D:-1.30541e-09
output = 0.000635499
..............................................
>
> # 0.03 seconds later:
> Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0333333
> input = -49.9996 ref = 0
> ep_n = 49.9996 ep_n_1 = 50.076 e_n = 49.9996 ed_n = 49.9996 Tf = 1e-06
> edf_n = 49.9996 delta_u_n = -0.09026
> P:0.0764119 I:-0.166665 D:-6.55459e-06
> min saturation
> output = -20
>
> Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0333333
> input = -16.6844 ref = -20
> ep_n = -3.31557 ep_n_1 = -3.32684 e_n = -3.31557 ed_n = 16.6844 Tf =
> 1e-06 edf_n = 16.6844 delta_u_n = 2.10212e-05
> P:0.0011263 I:-0.00110519 D:-8.62141e-08
> output = -0.00294038
>
>
> As you can see the inputs and outputs to/from these controllers look
> reasonable. Are you getting crazy inputs and outputs when you try the same?
> And are you getting sane inputs and outputs after a autopilot reload?
And after reloading autopilot
autopilot works
I get messages
Here an extract
..................................
Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0166667
input = -86.2699 ref = 0
ep_n = 86.2699 ep_n_1 = 86.3099 e_n = 86.2699 ed_n = 86.2699 Tf = 1e-06
edf_n = 86.2699 delta_u_n = -0.103803
P:0.0399801 I:-0.143783 D:1.29082e-08
min saturation
output = -20
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -17.7823 ref = -20
ep_n = -2.21771 ep_n_1 = -2.22147 e_n = -2.21771 ed_n = 17.7823 Tf = 1e-06
edf_n = 17.7823 delta_u_n = 6.21317e-06
P:0.000375831 I:-0.000369619 D:9.22063e-10
output = -0.00492783
Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0166667
input = -86.2299 ref = 0
ep_n = 86.2299 ep_n_1 = 86.2699 e_n = 86.2299 ed_n = 86.2299 Tf = 1e-06
edf_n = 86.2299 delta_u_n = -0.103755
P:0.039962 I:-0.143717 D:-1.08567e-08
min saturation
output = -20
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -17.7861 ref = -20
ep_n = -2.21394 ep_n_1 = -2.21771 e_n = -2.21394 ed_n = 17.7861 Tf = 1e-06
edf_n = 17.7861 delta_u_n = 7.86548e-06
P:0.000376856 I:-0.000368991 D:6.14735e-10
output = -0.00491997
Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0166667
input = -86.2299 ref = 0
ep_n = 86.2299 ep_n_1 = 86.2699 e_n = 86.2299 ed_n = 86.2299 Tf = 1e-06
edf_n = 86.2299 delta_u_n = -0.103755
P:0.039962 I:-0.143717 D:-1.08567e-08
min saturation
output = -20
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -17.7861 ref = -20
ep_n = -2.21394 ep_n_1 = -2.21771 e_n = -2.21394 ed_n = 17.7861 Tf = 1e-06
edf_n = 17.7861 delta_u_n = 7.86548e-06
P:0.000376856 I:-0.000368991 D:6.14735e-10
output = -0.00491997
Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0166667
input = -86.19 ref = 0
ep_n = 86.19 ep_n_1 = 86.2299 e_n = 86.19 ed_n = 86.19 Tf = 1e-06 edf_n =
86.19 delta_u_n = -0.103714
P:0.0399364 I:-0.14365 D:-1.53469e-08
min saturation
output = -20
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -17.7898 ref = -20
ep_n = -2.21016 ep_n_1 = -2.21394 e_n = -2.21016 ed_n = 17.7898 Tf = 1e-06
edf_n = 17.7898 delta_u_n = 1.00332e-05
P:0.000378392 I:-0.00036836 D:9.22057e-10
output = -0.00490993
Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0166667
input = -86.19 ref = 0
ep_n = 86.19 ep_n_1 = 86.2299 e_n = 86.19 ed_n = 86.19 Tf = 1e-06 edf_n =
86.19 delta_u_n = -0.103714
P:0.0399364 I:-0.14365 D:-1.53469e-08
min saturation
output = -20
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -17.7898 ref = -20
ep_n = -2.21016 ep_n_1 = -2.21394 e_n = -2.21016 ed_n = 17.7898 Tf = 1e-06
edf_n = 17.7898 delta_u_n = 1.00332e-05
P:0.000378392 I:-0.00036836 D:9.22057e-10
output = -0.00490993
Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0166667
input = -86.15 ref = 0
ep_n = 86.15 ep_n_1 = 86.19 e_n = 86.15 ed_n = 86.15 Tf = 1e-06 edf_n =
86.15 delta_u_n = -0.10363
P:0.0399537 I:-0.143583 D:1.03961e-08
min saturation
output = -20
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -17.7936 ref = -20
ep_n = -2.20636 ep_n_1 = -2.21016 e_n = -2.20636 ed_n = 17.7936 Tf = 1e-06
edf_n = 17.7936 delta_u_n = 1.22032e-05
P:0.000379929 I:-0.000367727 D:9.22076e-10
output = -0.00489773
Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0166667
input = -86.15 ref = 0
ep_n = 86.15 ep_n_1 = 86.19 e_n = 86.15 ed_n = 86.15 Tf = 1e-06 edf_n =
86.15 delta_u_n = -0.10363
P:0.0399537 I:-0.143583 D:1.03961e-08
min saturation
output = -20
Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0166667
input = -17.7936 ref = -20
ep_n = -2.20636 ep_n_1 = -2.21016 e_n = -2.20636 ed_n = 17.7936 Tf = 1e-06
edf_n = 17.7936 delta_u_n = 1.22032e-05
P:0.000379929 I:-0.000367727 D:9.22076e-10
output = -0.00489773
.......................................................
I can notice with the first example (before reload) only stage2 gives
messages
With second example (after reload) with autopilot working i do have both
stage1 and stage2
>
> If you are getting crazy inputs and outputs, you should run fgfs in a
> debugger like ddd and step through the FGPIDController::update() method in
> source/src/Autopilot/xmlauto.cxx to see what is going on.
Because i am not developer , i will not be able to do it
Regards
--
Gérard
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